Six-freedom degree articulated flexible COMERO high precision calibration method

A coordinate measuring machine and calibration method technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of large randomness, insufficient sampling density, poor overall machine effect, etc., and achieve the effect of ensuring stability and accurate calibration work

A coordinate measuring machine and calibration method technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of large randomness, insufficient sampling density, poor overall machine effect, etc., and achieve the effect of ensuring stability and accurate calibration work

CN101216299AInactive Publication Date: 2008-07-09HEFEI UNIV OF TECH
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  • Six-freedom degree articulated flexible COMERO high precision calibration method

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Embodiment Construction

[0024] The machine to be calibrated shown in Figure 1 is a six-degree-of-freedom articulated flexible coordinate measuring machine. On the base 1, two sections of measuring arms 4 are connected in series with six rotatable joints 5 to form an open-chain structure. The end of the open-chain structure is the probe 6 of the measuring machine. Each joint 5 can rotate around its own axis. In order to record the angle of joint rotation, a high-precision circular grating angle sensor is installed on the joint. The attitude of the measuring machine is positioned by the adjustable support rod 2 through the clamp 3 .

[0025] Both theory and practice have shown that for the machine to be calibrated, only when it is calibrated in a relatively large range can it be more reliable in actual use. The principle of least squares performs data processing on the extracted information, so that the error of the whole machine is relatively close to the minimum and maximum errors, and high-precision...

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Abstract

A six-DOF high-precision calibrating method for an articulation type coordinate measuring machine comprises the following steps of: using the articulation type coordinate measuring machine as a calibrated machine, using a three-coordinate measuring machine with higher precision as a standard machine, and disposing the calibrate machine into the measurement space of the standard machine; respectively obtaining the standard coordinates of probes in a standard coordinate system and the measurement coordinates of the probes in a calibrated coordinate system; using the standard coordinates and the measurement coordinates as sampling data, and obtaining the error parameter of the calibrated machine with least square method. The method is characterized in that the sampling density is that each joint of the calibrated machine at least locates at two equally divided angle positions in each circle (360 DEG), and the placement attitudes of the calibrated machine formed by the combination of the six joints with different angle positions are at least 64 types. The inventive method can further improve parameter identification precision, and improve the entire precision of the measuring machine.

Description

technical field [0001] The invention belongs to the technical field of coordinate measurement, and in particular relates to a calibration method for an articulated flexible coordinate measuring machine. Background technique [0002] The articulated flexible coordinate measuring machine usually consists of each measuring arm connected in series with each rotating joint (joint for short) to form an open-chain structure, and the end of the open-chain structure is the measuring head of the measuring machine. Each joint can rotate around its own axis. In order to record the angle of joint rotation, an angle sensor needs to be installed on the joint. As an angle sensor, a high-precision circular grating is one of the choices. Each joint has one degree of freedom, and a six-degree-of-freedom articulated flexible coordinate measuring machine has six joints. When using a measuring machine for coordinate measurement, the coordinates of the measuring machine probe are a function of th...

Claims

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Application Information

Patent Timeline
09 Jul 2008
Publication
CN101216299A
IPC
G01B21/04
Inventors
费业泰; 程文涛